CN115229761A - Track type inspection robot - Google Patents
Track type inspection robot Download PDFInfo
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- CN115229761A CN115229761A CN202211165210.7A CN202211165210A CN115229761A CN 115229761 A CN115229761 A CN 115229761A CN 202211165210 A CN202211165210 A CN 202211165210A CN 115229761 A CN115229761 A CN 115229761A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention relates to a track type inspection robot, and belongs to the technical field of robots. The operation track of the track type inspection robot is made of H steel, a traveling mechanism is in contact with the H steel and is connected with a robot box body, a pressing mechanism is used for pressing the traveling mechanism on the H steel, the robot box body is driven by the traveling mechanism to move back and forth along with the pressing mechanism, a telescopic mechanism is used for controlling the detection position of a robot detection system, the robot detection system is used for collecting various data in the operation process of the robot, and the robot control system is used for receiving and processing the data collected by the robot detection system and controlling the operation of the robot. The operation track of patrolling and examining the robot through setting up the rail mounted is the H steel to set up hold-down mechanism and compress tightly running gear in the H steel side, provide one kind and can realize the track of patrolling and examining robot on ordinary H steel surface, make the use universality ratio of robot is higher in the rail mounted, convenient to popularize and use.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a rail-mounted inspection robot.
Background
The geological environment of underground coal mining is complex, the accident rate is high, and real-time monitoring and safe inspection are very important. For example, the belt conveyor has long conveying distance, large conveying capacity and flexible arrangement of conveying lines, and is a key hub of a coal mine underground transportation link. During the long-term high-load operation of the conveyor, the faults such as tearing and deviation are easy to occur, and the equipment needs to be monitored frequently. When monitoring the mine environment, often adopt the manual work to patrol and examine or fixed camera fixed point monitoring mode, this kind of mode is patrolled and examined inefficiency, has the condition of lou examining, image acquisition incomplete scheduling problem, leads to patrolling and examining comprehensive efficiency not high. Therefore, the inspection robot is produced at the same time.
Most of the prior inspection robots are wheel type and crawler type inspection robots, and the inspection robots have high requirements on the running state of the road surface, so that the inspection robots can be only used in areas with flat road surfaces or places with few obstacles and simple terrain. The prior track type inspection robot, for example, chinese patent with publication number CN111765360A, discloses a robot inspection track and inspection robot, which needs to use a specific track to limit the robot, avoids the robot from shaking in the non-walking direction, and further ensures the running stability of the robot, and has certain limitation in the aspect of application and popularization.
In conclusion, the current inspection robot has the problems that the operation needs a specific track or the requirement is provided for the operation road condition, and the use is limited.
Disclosure of Invention
In order to solve the technical problem, the invention provides a rail type inspection robot. The technical scheme is as follows:
the utility model provides a robot is patrolled and examined to rail mounted, its characterized in that, the orbit of robot is patrolled and examined to rail mounted is the H steel, including running gear, hold-down mechanism, telescopic machanism, robot box, robot detection system, robot control system and explosion-proof power supply, running gear and H steel contact and be connected with the robot box, hold-down mechanism all is connected with running gear and robot box and is used for compressing tightly running gear on the H steel, and the robot box realizes back and forth movement along with hold-down mechanism under running gear's drive, and telescopic machanism all is connected with robot box and robot detection system and is used for controlling robot detection system's detection position, and robot detection system all is connected with telescopic machanism, robot box and robot control system and is used for gathering various data in the robot operation, and robot control system and explosion-proof power supply all install inside the robot box, and robot control system is used for receiving and handling the operation of the data that robot detection system gathered and control robot, and explosion-proof power supply are used for supplying power for the complete machine of robot.
Optionally, the walking mechanism comprises a first walking wheel, a second walking wheel, four upper supporting wheels, four lower supporting wheels, a driving motor, a first walking wheel connecting shaft, a second walking wheel connecting shaft, four upper supporting wheel connecting plates, four lower supporting wheel connecting shafts, four lower supporting wheel connecting plates, four springs, a first motor support, two shaft end retaining rings, a first coupling and two base connecting shafts, wherein the first walking wheel and the second walking wheel are horizontally arranged on two sides of the H steel respectively, the first motor support is fixed on the upper part of the inner cavity of the robot box body, the driving motor is arranged on the first motor support, the output shaft of the driving motor is connected with the first walking wheel connecting shaft through the first coupling, the first walking wheel connecting shaft and the first walking wheel are fixed through keys, the second walking wheel and the second walking wheel are fixed through keys, the first walking wheel connecting plate and the second walking wheel connecting shaft are respectively connected through screws and positioning pins, a group of four upper supporting wheels are symmetrically arranged between the first walking wheel connecting plate and the second walking wheel connecting plate respectively, and a group of lower supporting wheels are symmetrically arranged between the top of the first walking wheel connecting plate and the lower supporting wheel connecting plate, and the two lower supporting wheels are symmetrically arranged between the upper supporting wheels, the rolling bearing and the lower supporting wheel connecting plate are positioned through the check ring for holes, the spring is arranged between the middle part of the upper supporting wheel connecting plate and the middle part of the lower supporting wheel connecting plate, and the spring is connected with the upper supporting wheel connecting plate and the lower supporting wheel connecting plate through bolts.
Optionally, the pressing mechanism comprises an upper pressing sleeve, a lower pressing sleeve, a pressing bolt and a pressing spring, the upper pressing sleeve consists of an upper pressing sleeve I and an upper pressing sleeve II, the lower pressing sleeve consists of a lower pressing sleeve I and a lower pressing sleeve II, the lower pressing sleeve I and the lower pressing sleeve II are both fixed with the robot box body through bolts, the upper pressing sleeve I and the lower pressing sleeve I are connected through bolts, the upper pressing sleeve II and the lower pressing sleeve II are connected through bolts, a rolling bearing is embedded in the upper pressing sleeve I and connected with the walking wheel connecting shaft I, a rolling bearing is arranged in the upper pressing sleeve II and connected with the walking wheel connecting shaft II, the upper pressing sleeve I and the upper pressing sleeve II are connected through the pressing bolts, and the pressing spring is arranged on the pressing bolt.
Optionally, the telescopic mechanism comprises a telescopic motor, a second motor support, a second coupler, a ball screw support, a ball screw nut, a telescopic connecting block, a telescopic connecting shaft, a scissor type telescopic frame, a telescopic guide shaft and a split pin, the second motor support and the bottom of the inner cavity of the robot box are fixed through bolts, the telescopic motor is fixed on the second motor support through bolts, an output shaft of the telescopic motor is connected with the ball screw through the second coupler, the two ends of the ball screw are connected with the ball screw support, the ball screw support and the inner cavity of the robot box are fixed through bolts, the ball screw nut and the telescopic connecting block are fixed through bolts, the telescopic connecting block is connected with one end of the scissor type telescopic frame through the telescopic connecting shaft, the telescopic connecting block is arranged on the telescopic guide shaft in a penetrating mode, and the two ends of the telescopic guide shaft are connected with the ball screw support through the split pin.
Optionally, the robot box body adopts a rectangular metal shell.
Optionally, the robot detection system comprises an explosion-proof camera, a temperature and humidity sensor, a carbon monoxide sensor, an oxygen sensor and a methane sensor, the explosion-proof camera is connected with the other end of the scissor-fork type expansion bracket, and the temperature and humidity sensor, the carbon monoxide sensor, the oxygen sensor and the methane sensor are connected with the outer surface of the robot box body.
Optionally, the robot control system is of the intrinsically safe type.
Optionally, the explosion-proof camera is embedded with an infrared thermal imager.
All the optional technical schemes can be combined at will, and the structure after one-to-one combination is not explained in detail in the invention.
By means of the scheme, the invention has the following beneficial effects:
the operation track of patrolling and examining the robot through setting up the rail mounted is the H steel to set up hold-down mechanism and compress tightly running gear in the H steel side, provide one kind and can realize the track of patrolling and examining robot on ordinary H steel surface, make the use universality ratio of robot is higher in the rail mounted, convenient to popularize and use. The walking mechanism is arranged to drive the robot box body and the robot detection system to operate, inspection continuity is achieved, and it is ensured that no missed inspection exists and collected data are comprehensive.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a front view of the present invention.
Fig. 4 isbase:Sub>A schematic sectional view taken along linebase:Sub>A-base:Sub>A of fig. 3.
Fig. 5 is a schematic structural view of the traveling mechanism in fig. 1.
Fig. 6 is a schematic sectional view taken along line H-H of fig. 2.
In the figure: 1-travelling mechanism, 2-pressing mechanism, 3-telescoping mechanism, 4-robot box, 5-H steel, 6-detection system, 7-explosion-proof power supply, 11-travelling wheel I, 12-travelling wheel II, 13-travelling wheel connecting shaft I, 14-travelling wheel connecting shaft II, 15-upper supporting wheel, 16-upper supporting wheel connecting shaft, 17-upper supporting wheel connecting plate, 18-lower supporting wheel, 19-lower supporting wheel connecting shaft, 110-lower supporting wheel connecting plate, 111-spring, 112-motor support I, 113-driving motor, 114-shaft end retainer ring, 115-coupling I, 116-base connecting shaft, 21-upper pressing sleeve I, 22-upper pressing sleeve II, 23-lower pressing sleeve I, 24-lower pressing sleeve II, 25-pressing bolt, 26-pressing spring, 31-telescoping motor, 32-motor support II, 33-coupling II, 34-ball screw, 35-ball screw support, 36-ball screw nut, 37-telescoping connecting block, 38-telescoping connecting shaft, 39-explosion-telescoping bracket, 310-telescoping shaft, camera head guiding pin, 311-telescopic pin, and camera head anti-explosion pin.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
As shown in fig. 1, the track type inspection robot provided by the invention has an operation track made of H steel 5, and includes a traveling mechanism 1, a pressing mechanism 2, a telescoping mechanism 3, a robot box 4, a robot detection system 6, a robot control system and an explosion-proof power supply 7, wherein the traveling mechanism 1 contacts with the H steel 5 and is connected with the robot box 4, the pressing mechanism 2 is connected with the traveling mechanism 1 and the robot box 4 and is used for pressing the traveling mechanism 1 onto the H steel 5, the robot box 4 is driven by the traveling mechanism 1 to move back and forth along with the pressing mechanism 2, the telescoping mechanism 3 is connected with the robot box 4 and the robot detection system 6 and is used for controlling the detection position of the robot detection system 6, the robot detection system 6 is connected with the telescoping mechanism 3, the robot box 4 and the robot control system and is used for collecting various data in the operation process of the robot, the robot control system and the explosion-proof power supply 7 are installed inside the robot box 4, and the robot control system is used for receiving and processing the operation data of the robot detection power supply system and collecting the data of the robot and the explosion-proof power supply 7.
The track type inspection robot that this embodiment provided compresses tightly running gear 1 on H steel 5 through hold-down mechanism 2 at the during operation, then robot control system control running gear 1 moves on H steel 5, and then drives the operation of robot box 4 and robot detection system 6. The robot detection system 6 collects data in real time in the operation process and sends the data to the robot control system, and the robot control system analyzes the collected data. When the detection position of the robot detection system 6 is to be adjusted, the robot control system controls the telescoping mechanism 3 to telescope, and further drives the explosion-proof camera 61 in the robot detection system 6 to move, so as to adjust the position.
As shown in fig. 2 to 5, the traveling mechanism 1 includes a first traveling wheel 11, a second traveling wheel 12, four upper support wheels 15, four lower support wheels 18, a driving motor 113, a first traveling wheel connecting shaft 13, a second traveling wheel connecting shaft 14, four upper support wheel connecting shafts 16, four upper support wheel connecting plates 17, four lower support wheel connecting shafts 19, four lower support wheel connecting plates 110, four springs 111, a first motor bracket 112, two shaft end retaining rings 114, a first coupling 115 and two base connecting shafts 116, the first traveling wheel 11 and the second traveling wheel 12 are respectively horizontally placed on two sides of H-shaped steel 5, the first motor bracket 112 is fixed on the upper part of the inner cavity of the robot box 4, the driving motor 113 is a driving element of the traveling mechanism 1 and is installed on the first motor bracket 112, and an output shaft of the driving motor 113 is connected with the first traveling wheel connecting shaft 13 through the first coupling 115, the first walking wheel connecting shaft 13 is in key connection with the first walking wheel 11 for fixation, the second walking wheel 12 is in key connection with the second walking wheel connecting shaft 14 for fixation, shaft end check rings 114 are arranged on the upper sides of the first walking wheel 11 and the second walking wheel 12 for connection with the first walking wheel connecting shaft 13 and the second walking wheel connecting shaft 14 through screws and positioning pins respectively, four upper supporting wheels 15 are in groups in pairs and are symmetrically arranged on the two sides of the first walking wheel 11 and the second walking wheel 12 respectively, each upper supporting wheel 15 is connected with the top of an upper supporting wheel connecting plate 17 through an upper supporting wheel connecting shaft 16, the bottom of the upper supporting wheel connecting plate 17 is welded with a base connecting shaft 116, the bottom of the upper supporting wheel connecting plate 17 is fixed with the top of the robot box 4 through bolts, and the verticality between the robot box 4 and the upper supporting wheel connecting plate 17 is ensured; the operation of the upper supporting wheel 15 on the upper side of the lower horizontal plane of the H steel 5 is realized under the driving of the robot box body 4, the upper supporting wheel connecting plate 17 and the upper supporting wheel connecting shaft 16; the four lower support wheels 18 are grouped pairwise and symmetrically arranged on two sides of the first travelling wheel 11 and the second travelling wheel 12 respectively, each lower support wheel 18 is in interference fit with the lower support wheel connecting shaft 19, the lower support wheel connecting shaft 19 is fixed with the top of the lower support wheel connecting plate 110, a rolling bearing is arranged between the bottom of the lower support wheel connecting plate 110 and the base connecting shaft 116 to ensure the relative rotation between the lower support wheel connecting plate 110 and the base connecting shaft 116, the rolling bearing is positioned with the lower support wheel connecting plate 110 through a hole check ring, a spring 111 is arranged between the middle of the upper support wheel connecting plate 17 and the middle of the lower support wheel connecting plate 110, and the spring 111 is connected with the upper support wheel connecting plate 17 and the lower support wheel connecting plate 110 through bolts; the structure of the spring 111 ensures that the lower support wheel 18 is tightly attached to the lower side of the lower horizontal plane of the track in the horizontal running and climbing stages, and the pressure born by the lower support wheel 18 can be effectively reduced through the structure of the spring 111.
As shown in fig. 4 and 5, the pressing mechanism 2 includes an upper pressing sleeve, a lower pressing sleeve, a pressing bolt 25 and a pressing spring 26, the upper pressing sleeve is composed of an upper pressing sleeve one 21 and an upper pressing sleeve two 22, the lower pressing sleeve is composed of a lower pressing sleeve one 23 and a lower pressing sleeve two 24, the lower pressing sleeve one 23 and the lower pressing sleeve two 24 are both fixed with the robot box 4 through bolts, the upper pressing sleeve one 21 and the lower pressing sleeve one 23 are connected through bolts, the upper pressing sleeve two 22 and the lower pressing sleeve two 24 are connected through bolts, and the upper pressing sleeve rotates around the bolts relative to the lower pressing sleeve during pressing; go up and compress tightly cover one 21 embedded have a antifriction bearing to be connected with walking wheel connecting axle one 13, guarantee that hold-down mechanism 2 can normally rotate at walking wheel connecting axle one 13 when compressing tightly, go up compress tightly cover two 22 in respectively be equipped with a antifriction bearing from top to bottom and be connected with walking wheel connecting axle two 14, guarantee the straightness that hangs down of walking wheel connecting axle two 14, go up compress tightly cover one 21 and compress tightly cover two 22 and pass through clamp bolt 25 and connect, be equipped with clamp spring 26 on the clamp bolt 25, through screwing clamp bolt 25, realize compressing tightly the function.
During specific work, the driving motor 113 drives the first traveling wheel 11 to rotate, the first traveling wheel 11 travels on the side face of the H steel 5 by means of friction between the first traveling wheel 11 and the H steel 5 rail, and therefore the upper pressing sleeve 21, the lower pressing sleeve 23 and the robot box body 4 move; the robot box body 4 moves to drive the lower pressing sleeve II 24 and the upper pressing sleeve II 22 to move, a rolling bearing is arranged between the walking wheel connecting shaft II 14 and the upper pressing sleeve II 22, and then the walking wheel II 12 rotates, so that the track type inspection robot runs on the H steel 5. The compacting mechanism 2 is used for compacting the first traveling wheel 11 and the second traveling wheel 12, and ensures that sufficient friction force exists between the first traveling wheel 11, the second traveling wheel 12 and the H-shaped steel 5 so as to ensure the normal operation of the track type inspection robot.
As shown in fig. 6, the telescoping mechanism 3 includes a telescoping motor 31, two motor brackets 32, two coupling joints 33, a ball screw 34, a ball screw support 35, a ball screw nut 36, a telescoping connection block 37, a telescoping connection shaft 38, a scissor type telescopic frame 39, a telescoping guide shaft 310 and a split pin 311, the two motor brackets 32 are fixed to the bottom of the inner cavity of the robot box 4 through bolts, the telescoping motor 31 is fixed to the two motor brackets 32 through bolts, an output shaft of the telescoping motor 31 is connected to the ball screw 34 through the two coupling joints 33, the two ends of the ball screw 34 are connected to the ball screw support 35 for fixing and supporting the ball screw 34, the ball screw support 35 is fixed to the inner cavity of the robot box 4 through bolts, the ball screw nut 36 is fixed to the telescoping connection block 37 through bolts for converting the movement of the ball screw 34 into the movement of the telescoping connection block 37, the telescoping connection block 37 is connected to one end of the scissor type telescopic frame 39 through the telescoping connection block 38, the telescoping connection block 37 is inserted into the telescoping guide shaft 310, and the two ends of the telescoping guide shaft 310 are connected to the ball screw support 35 through the split pin 311. The cotter pin 311 serves to restrict the movement of the telescopic guide shaft 310.
When the scissors are stretched, the telescopic motor 31 rotates to drive the ball screw 34 to rotate, and then the telescopic connecting block 37 and the telescopic connecting shaft 38 are driven to move, so that the scissors type telescopic frame 39 is stretched. The telescopic guide shaft 310 connects the rolling screw support 35 and the telescopic connecting block 37, and ensures that the telescopic connecting block 37 can move horizontally.
Optionally, the robot box 4 is a rectangular metal housing.
Exemplarily, the robot detection system 6 includes an explosion-proof camera 61, a temperature and humidity sensor, a carbon monoxide sensor, an oxygen sensor and a methane sensor, the explosion-proof camera 61 is connected with the other end of the scissor-type telescopic frame 39, and the temperature and humidity sensor, the carbon monoxide sensor, the oxygen sensor and the methane sensor are connected with the outer surface of the robot box 4. Of course, the robot detection system 6 may also be provided with various other types of sensors according to the detection requirement, and this embodiment is not illustrated.
Preferably, the explosion-proof camera 61 is embedded with an infrared thermal imager for collecting thermal imaging information to analyze data by means of temperature.
Preferably, the robot control system is of an intrinsic safety type, so that the explosion-proof shell is not needed for explosion-proof treatment, and the weight of the rail-type inspection robot is reduced to a great extent.
When the H-steel inspection robot is used, the first traveling wheel 11 and the second traveling wheel 12 of the rail-type inspection robot are placed on two sides of the H-steel 5 (if the H-steel 5 does not exist, the H-steel 5 is laid near the position to be inspected) and are positioned at the inspection starting point, and the pressing bolts 25 are operated to enable the traveling wheels on the two sides to press the surface of the H-steel 5. After receiving the starting instruction, the robot control system controls the driving motor 113 to work to drive the first walking wheel 11 to rotate, and then drives the compressing mechanism 2 and the robot box 4 to move, the robot box 4 moves to drive the lower supporting wheel 18 and the upper supporting wheel 15 to move on the H steel 5 track, the compressing mechanism 2 is always in a compressing state under the action of the compressing spring 26 in the operation process, and sufficient friction force is guaranteed to exist between the first walking wheel 11, the second walking wheel 12 and the H steel 5, and then the walking mechanism 1 is guaranteed to normally walk on the H steel 5. After the rail-mounted inspection robot reaches the designated position, the robot control system controls the telescopic motor 31 to work to drive the ball screw 34 to work, further drives the telescopic connecting block 37 and the telescopic connecting shaft 38 to move, and further controls the explosion-proof camera 61 to collect data after the scissor type telescopic frame 39 stretches and moves for a certain height. During the operation of the track type inspection robot, all kinds of sensors are always in a detection state, and collected data are sent to a robot control system in real time to be processed. When the rail type inspection robot runs to the detection end point, the robot control system controls the driving motor 113 to rotate reversely, the secondary inspection is carried out reversely, after the inspection starting point is reached, the inspection of one round is finished, and the process is repeated.
The rail type inspection robot provided by the invention can run on a standard H-shaped steel rail, a special running rail needs not to be arranged for the inspection robot, the rail type inspection robot can realize self-driving, external equipment is not required for traction, and the application and popularization rate is high. The rail-mounted inspection robot is provided with a robot detection system 6 and a robot control system, can sense the position of the rail-mounted inspection robot in real time, and controls the robot to move according to feedback. The walking mechanism of the rail type inspection robot is provided with the springs, so that the supporting force of the supporting wheels can be effectively reduced. The track type inspection robot is simple in structure and suitable for running in an explosive gas environment, and can realize large-slope climbing and large-horizontal large-vertical turning based on the pressing force applied to the first walking wheel 11 and the second walking wheel 12 by the pressing mechanism 2 and the design of the structure of the upper supporting wheel 15. The invention is particularly suitable for inspecting the belt conveyor under the mine.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A rail-mounted inspection robot is characterized in that the running rail of the rail-mounted inspection robot is made of H steel (5) and comprises a walking mechanism (1), a pressing mechanism (2), a telescopic mechanism (3), a robot box body (4), a robot detection system (6), a robot control system and an explosion-proof power supply (7), the walking mechanism (1) is in contact with the H steel (5) and is connected with the robot box body (4), the pressing mechanism (2) is connected with the traveling mechanism (1) and the robot box body (4) and is used for pressing the traveling mechanism (1) on the H steel (5), the robot box body (4) moves back and forth under the driving of the walking mechanism (1) along with the pressing mechanism (2), the telescopic mechanism (3) is connected with the robot box body (4) and the robot detection system (6) and used for controlling the detection position of the robot detection system (6), the robot detection system (6) is connected with the telescopic mechanism (3), the robot box body (4) and the robot control system and used for collecting various data in the operation process of the robot, the robot control system and the explosion-proof power supply (7) are installed inside the robot box body (4), the robot control system is used for receiving and processing the data collected by the robot detection system (6) and controlling the operation of the robot, and the explosion-proof power supply (7) is used for supplying power to the robot.
2. The track type inspection robot according to claim 1, wherein the traveling mechanism (1) comprises a first traveling wheel (11), a second traveling wheel (12), four upper supporting wheels (15), four lower supporting wheels (18), a driving motor (113), a first traveling wheel connecting shaft (13), a second traveling wheel connecting shaft (14), four upper supporting wheel connecting shafts (16), four upper supporting wheel connecting plates (17), four lower supporting wheel connecting shafts (19), four lower supporting wheel connecting plates (110), four springs (111), a first motor support (112), two shaft end retainer rings (114), a first coupling (115) and two base connecting shafts (116), the first traveling wheel (11) and the second traveling wheel (12) are horizontally placed on two sides of the H steel (5) respectively, the first motor support (112) is fixed on the upper portion of an inner cavity of the robot box body (4), the driving motor (113) is mounted on the first motor support (112), an output shaft of the driving motor (113) is connected with the first traveling wheel connecting shaft (13) through the first coupling (115), the first traveling wheel connecting shaft (13) is fixedly connected with the first traveling wheel (11), the second traveling wheel (12) is fixedly connected with the first traveling wheel (14), and the second traveling wheel (14) is fixedly connected with the first traveling wheel connecting shaft (114), the connecting structure is characterized in that connection with a walking wheel connecting shaft I (13) and a walking wheel connecting shaft II (14) is achieved through screws and positioning pins respectively, four upper supporting wheels (15) are in pairwise group and are symmetrically arranged on two sides of a walking wheel I (11) and a walking wheel II (12) respectively, each upper supporting wheel (15) is connected with the top of an upper supporting wheel connecting plate (17) through an upper supporting wheel connecting shaft (16), the bottom of the upper supporting wheel connecting plate (17) is fixed with a base connecting shaft (116), the bottom of the upper supporting wheel connecting plate (17) is fixed with the top of a robot box body (4) through bolts, four lower supporting wheels (18) are in pairwise group and are symmetrically arranged on two sides of the walking wheel I (11) and the walking wheel II (12) respectively, each lower supporting wheel (18) is in interference fit with the lower supporting wheel connecting shaft (19), the lower supporting wheel connecting shaft (19) is fixed with the top of the lower supporting wheel connecting plate (110), a lower supporting wheel connecting plate (110) is arranged between the bottom of the lower supporting wheel connecting plate (110) and the base (116), relative rotation between the lower supporting wheel connecting plate (110) and a lower supporting wheel connecting plate through a positioning spring (111), and a lower supporting spring connecting plate (17) are arranged between the upper supporting wheel connecting plate (111) and a lower supporting spring connecting plate (17).
3. The rail-mounted inspection robot according to claim 2, wherein the pressing mechanism (2) comprises an upper pressing sleeve, a lower pressing sleeve, a pressing bolt (25) and a pressing spring (26), the upper pressing sleeve consists of an upper pressing sleeve I (21) and an upper pressing sleeve II (22), the lower pressing sleeve consists of a lower pressing sleeve I (23) and a lower pressing sleeve II (24), the lower pressing sleeve I (23) and the lower pressing sleeve II (24) are fixed with the robot box body (4) through bolts, the upper pressing sleeve I (21) and the lower pressing sleeve I (23) are connected through bolts, the upper pressing sleeve II (22) and the lower pressing sleeve II (24) are connected through bolts, a rolling bearing is embedded in the upper pressing sleeve I (21) and connected with the travelling wheel I (13), a rolling bearing is arranged in the upper pressing sleeve II (22) and connected with the travelling wheel II (14) vertically, the upper pressing sleeve I (21) and the upper pressing sleeve II (22) are connected through the connecting shaft bolt (25), and the pressing spring (26) is arranged on the upper pressing sleeve I (22).
4. The orbital inspection robot according to any one of claims 1 to 3, the telescopic mechanism (3) comprises a telescopic motor (31), a motor bracket II (32), a coupling II (33), a ball screw (34), a ball screw support (35), a ball screw nut (36), a telescopic connecting block (37), a telescopic connecting shaft (38), a scissor type telescopic frame (39), a telescopic guide shaft (310) and a split pin (311), the robot is characterized in that the bottom of the inner cavity of the motor support II (32) is fixed with the bottom of the inner cavity of the robot box body (4) through a bolt, the telescopic motor (31) is fixed on the motor support II (32) through a bolt, an output shaft of the telescopic motor (31) is connected with the ball screw (34) through a coupling II (33), two ends of the ball screw (34) are connected with ball screw supports (35), the inner cavity of the ball screw supports (35) and the inner cavity of the robot box body (4) are fixed through a bolt, a ball screw nut (36) and a telescopic connecting block (37) are fixed through a bolt, the telescopic connecting block (37) is connected with one end of a scissor type telescopic frame (39) through a telescopic connecting shaft (38), the telescopic connecting block (37) penetrates through a telescopic guide shaft (310), and two ends of the telescopic guide shaft (310) are connected with the ball screw supports (35) through split pins (311).
5. The rail-mounted inspection robot according to any one of claims 1 to 3, wherein the robot housing (4) is a rectangular metal case.
6. The rail-mounted inspection robot according to any one of claims 1 to 3, wherein the robot detection system (6) comprises an explosion-proof camera (61), a temperature and humidity sensor, a carbon monoxide sensor, an oxygen sensor and a methane sensor, the explosion-proof camera (61) is connected with the other end of the scissor-type telescopic frame (39), and the temperature and humidity sensor, the carbon monoxide sensor, the oxygen sensor and the methane sensor are connected with the outer surface of the robot box body (4).
7. The orbital inspection robot according to any one of claims 1-3, wherein the robot control system is intrinsically safe.
8. The orbital inspection robot according to claim 6, wherein the explosion-proof camera (61) is embedded with an infrared thermal imager.
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| CN202211165210.7A CN115229761B (en) | 2022-09-23 | 2022-09-23 | Track type inspection robot |
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| CN202211165210.7A CN115229761B (en) | 2022-09-23 | 2022-09-23 | Track type inspection robot |
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| CN115229761B CN115229761B (en) | 2022-12-13 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115648250A (en) * | 2022-11-14 | 2023-01-31 | 合肥工业大学 | Patrol robot for power distribution room |
| CN116423532A (en) * | 2023-04-11 | 2023-07-14 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type track inspection robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115648250A (en) * | 2022-11-14 | 2023-01-31 | 合肥工业大学 | Patrol robot for power distribution room |
| CN116423532A (en) * | 2023-04-11 | 2023-07-14 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type track inspection robot |
| CN116423532B (en) * | 2023-04-11 | 2024-01-30 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type track inspection robot |
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| CN115229761B (en) | 2022-12-13 |
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